CONTENTS CONTENTS CONTENTS CONTENTS

972
Theory of Machines
972

24
Feaeaeaeaeaturturturturtureseseseses
1. Introduction. 2. Natural Frequency of Free Torsional Vibrations. 3. Effect of Inertia of the Constraint on Torsional Vibrations. 4. Free Torsional Vibrations of a Single Rotor System. 5. Free Torsional Vibrations of a Two Rotor System. 6. Free Torsional Vibrations of a Three Rotor System. 7. Torsionally Equivalent Shaft. 8. Free Torsional Vibrations of a Geared System.

Torororororsional sionalsional sionalsional

Vibraibraibraibraibrationstio nstionstionstions
24.1.24.1.24.1.24.1.24.1. Introduction Introduction Introduction Introduction
Introduction We have already discussed in the previous chapter that when the particles of a shaft or disc move in a circle about the axis of a shaft, then the vibrations are known as torsional vibrations. In this case, the shaft is twisted and untwisted alternately and torsional shear stresses are induced in the shaft. In this chapter, we shall now discuss the fre- quency of torsional vibrations of various systems.

24.2.24.2.24.2.24.2.24.2. Natural Natural Natural Natural Natural Frequency Frequency Frequency Frequency Frequency of of of of of Free Free Free Free Free Torsional Torsional Torsional Torsional Torsional Vibrations Vibrations Vibrations Vibrations Vibrations Consider a shaft of negligible mass whose one end is fixed and the other end carrying a disc as shown in Fig. 24.1.
Let = Angular displacement of the shaft from mean position after time t in radians, m = Mass of disc in kg, I = Mass moment of inertia of disc in kg-m
2

= m.k
2

, k = Radius of gyration in metres, q = Torsional stiffness of the shaft in N-m.

 Restoring force = .q ... (i) and accelerating force =I d dt 2 2 ... (ii) Equating equations (i) and (ii), the equation of motion is Id dt 2 2 = q or . Id dt
2 2

+q = .0 d dt 2 2 +q I = 0 . . . (iii) The fundamental equation of the simple harmonic motion is d

2

dt
2

+ 2 .x

= 0 . . . (iv) Comparing equations (iii) and (iv), = qI Time period, t =2 =2 Iq and natural frequency ,
p

f
n

=1tp = 2 1 qI
Note : This picture is given as additional information and is not a direct example of the current chapter. A modern lathe can create an artificial hip joint from information fed into it by a computer. Accurate drawings of the joint are first made on a computer and the information about the dimensions fed is directly into the lathe.

973 Chapter 24 : Torsional Vibrations

Fig 24.1. Natural frequency of free torsional vibrations.

974
Theory of Machines
Note : The value of the torsional stiffness q may be obtained from the torsion equation,

TJ=Cl.
or

T = C.l J q = .C l J
... where C = Modulus of rigidity for the shaft material, J = Polar moment of inertia of the shaft cross-section,

= 32 d
4 ; d is the diameter of the shaft, and

l = Length of the shaft. Example 24.1. A shaft of 100 mm diameter and 1 metre long has one of its end fixed and the other end carries a disc of mass 500 kg at a radius of gyration of 450 mm. The modulus of rigidity for the shaft material is 80 GN/m
= q T

. Determine the frequency of torsional vibrations. Solution. Given : d = 100 mm = 0.1 m ; l = 1 m ; m = 500 kg ; k = 450 mm = 0.45 m ; C = 80 GN/m
2

= 80 10
9

N/m

We know that polar moment of inertia of the shaft, J = 32 d 4 = 32 (0.1) 4 = 9.82 10 6m

4

Torsional stiffness of the shaft, q =C.J l = 80 10 9 1 9.82 10

6

= 785.6 10
3

N-m We know that mass moment of inertia of the shaft, I = mk . 2 = 500(0.45) 2 = 101.25 kg-m
2

Frequency of torsional vibrations, f

n

=21qI = 2 1 785.6 10 3 101.25 = 88.1 2 = 14 Hz Ans.

Example 24.2. A flywheel is mounted on a vertical shaft as shown in Fig 24.2. The both ends of a shaft are fixed and its diameter is 50 mm. The flywheel has a mass of 500 kg and its radius of gyration is 0.5 m. Find the natural frequency of torsional vibrations, if the modulus of rigidity for the shaft material is 80 GN/m
2

. Solution. Given : d = 50 mm = 0.05 m ; m = 500 kg ; k = 0.5m; G = 80 GN/m 2 = 84 10

9

N/m
2

We know that polar moment of inertia of the shaft, J = 32 d 4= 32 (0.05) 4 m

4

= 0.6 10 6m 4 Torsional stiffness of the shaft for length l

1

, q
1

=C.J l
1

= 84 10 9 0.9 0.6 10
6

= 56 10
3

N-m
Fig 24.2

975 Chapter 24 : Torsional Vibrations

Similarly torsional stiffness of the shaft for length l
2

, q
2

=C.Jl
2

= 84 10 9 0.6 0.6 10
6

= 84 103 N-m Total torsional stiffness of the shaft, q=q1+q2 = 56 10 3 + 84 10 3 = 140 10 3 N-m We know that mass moment of inertia of the flywheel, I = mk . 2 = 500(0.5) 2 = 125 kg-m
2

Natural frequency of torsional vibration, f

n

=21qI = 2 1 140 10 3 125 = 33.5 2 = 5.32 Hz Ans.

24.3.24.3.24.3.24.3.24.3. Effect Effect Effect Effect Effect of of of of of Inertia Inertia Inertia Inertia Inertia of of of of of the the the the the Constraint Constraint Constraint Constraint Constraint on on on on on Torsional Torsional Torsional Torsional Torsional Vibrations

Vibrations Vibrations Vibrations Vibrations Consider a constraint i.e. shaft whose one end is fixed and the other end free, as shown in Fig.24.3.
Let = Angular velocity of free end, m = Mass of constraint for unit length, l = Length of constraint, m
C

= Total mass of constraint = m.l, k = Radius of gyration of constraint, I

C

= Total constraint mass moment of inertia of =m

C

.k
2

= m.l.k
2

. Consider a small element at a distance x from the fixed end and of length x. Therefore, Mass moment of inertia of the element (.)2.2 .
Fig 24.3. Effect of inertia of the constraint on torsional vibrations. = m x k = l x

mkl
... (Dividing and multiplying by l) = l x

I
C ... (Substituting m.k2.l = I C )

and angular velocity of the element Kinetic energy possessed by = the l x element =1

IC

2=IC

.2.x22 l
3

x Total kinetic energy of the constraint

l=0
I C . 2 2 l 3 x 2 dx =IC.22 l
3

x33 l0=1

976
Theory of Machines
If a mass whose constraint is assumed to mass moment of inertia is equal to be of negligible mass, then I
C

/ 3 is placed at the free end and the Total kinetic energy of the constraint 1 I 2C 2 3
. . . [Same as equation (i)] When loads are applied on the above two pulleys, the shaft is subject to torsional vibration

Hence the two systems are dynamically same. Therefore the inertia of the constraint may be allowed for by adding I
C

/ 3 to the mass moment of inertia I of the disc at the free end. From the above discussion, we find that when the mass moment of inertia of the constraint I
C

and the mass moment of inertia of the disc I are known, then natural frequency of vibration, f
n

21 qII
C

/3

24.4.24.4.24.4.24.4.24.4. Free Free Free Free Free Torsional Torsional Torsional Torsional Torsional Vibrations Vibrations Vibrations Vibrations Vibrations of of of of of a a a a a Single Single Single Single Single Rotor Rotor Rotor Rotor Rotor System System System System System We have already discussed that for a shaft fixed at one end and carrying a rotor at the free end as shown in Fig. 24.4, the natural frequency of torsional vibration,
f
n

1q2I12C. Jl. I ...

q

.C J l

where C = Modulus of rigidity for shaft material, J = Polar moment of inertia of shaft =
Fig 24.4. Free torsional vibrations of a single rotor system.

32 d
4

d = Diameter of shaft, l = Length of shaft, m = Mass of rotor,

977 Chapter 24 : Torsional Vibrations

k = Radius of gyration of rotor, and I = Mass moment of inertia of rotor = m.k
2

A little consideration will show that the amplitude of vibration is zero at A and maximum at B, as shown in Fig. 24.4. It may be noted that the point or the section of the shaft whose amplitude of torsional vibration is zero, is known as node. In other words, at the node, the shaft remains unaffected by the vibration. 24.5.24.5.24.5.24.5.24.5. Free Free Free Free Free Torsional Torsional Torsional Torsional Torsional Vibrations Vibrations Vibrations Vibrations Vibrations of of of of of a a a a a Two Two Two Two Two Rotor Rotor Rotor Rotor Rotor System System System System System Consider a two rotor system as shown in Fig. 24.5. It consists of a shaft with two rotors at its ends. In this system, the torsional vibrations occur only when the two rotors A and B move in opposite directions i.e. if A moves in anticlockwise direction then B moves in clockwise direction at the same instant and vice versa. It may be noted that the two rotors must have the same frequency. We see from Fig. 24.5 that the node lies at point N. This point can be safely assumed as a fixed end and the shaft may be considered as two separate shafts N P and N Q each fixed to one of its ends and carrying rotors at the free ends. Let l = Length of shaft, l
A

Fig 24.5. Free torsional vibra- = Length of part NP i.e. distance

tions of a two rotor system. of node from rotor A, l B

= Length of part NQ, i.e. distance of node from rotor B, I

A

= Mass moment of inertia of rotor A, I

B

= Mass moment of inertia of rotor B, d = Diameter of shaft, J = Polar moment of inertia of shaft, and C = Modulus of rigidity for shaft material. Natural frequency of torsional vibration for rotor A, f
n A

1C. J2lA. I
A

. . . (i) and natural frequency of torsional vibration for rotor B,

f
n B

1C. J2lB. I
B

. . . (ii) Since f
nA

=f
nB

, therefore 1 CJ . 1 CJ .2lA.IA2lB. I
B

or l
A

.I
A

=l
B

.I
B

. . . (iii) l
A

lB.I BI A We also know that llAIB . . . (iv)

978
Theory of Machines
node. From equations (iii) and Substituting (iv), we may find the value of l
A

and l
B

and hence the position of vibration for a two the rotor values system of may l
A

or be l B evaluated. in equation (i) or (ii), the natural frequency of torsional

Note : The line LNM in Fig.24.5 is known as elastic line for the shaft.

24.6.24.6.24.6.24.6.24.6. Free Free Free Free Free Torsional Torsional Torsional Torsional Torsional Vibrations Vibrations Vibrations Vibrations Vibrations of of of of of a a a a a Three Three Three Three Three Rotor Rotor Rotor Rotor Rotor System System System
System System Consider a three rotor system as shown is Fig. 24.6 (a). It consists of a shaft and three rotors A, B and C. The rotors A and C are attached to the ends of a shaft, whereas the rotor B is attached in between A and C. The torsional vibrations may occur in two ways, that is with either one node or two nodes. In each case, the two rotors rotate in one direction and the third rotor rotates in opposite direction with the same frequency. Let the rotors A and C of the system, as shown in Fig. 24.6 (a), rotate in the same direction and the rotor B in opposite direction. Let the nodal points or nodes of such a system Art. 24.5, the shaft may be assumed as lies a fixed at N 1 end and at N the 2 as nodes. shown in Fig. 24.6 (b). As discussed in (a) (b)
Fig. 24.6. Free torsional vibrations of a three rotor system. Let l 1

= Distance between rotors A and B, l

2

= Distance between rotors B and C, l

A

= Distance of node N
1

from rotor A, l

= Distance of node N
2

from rotor C, I
A

= Mass moment of inertia of rotor A, I

B

= Mass moment of inertia of rotor B, I

C

= Mass moment of inertia of rotor C, d = Diameter of shaft, J = Polar moment of inertia of shaft, and C = Modulus of rigidity for shaft material. Natural frequency of torsional vibrations for rotor A, f
n A

21C. JlA. I
A

. . . (i)

979
Natural frequency of torsional vibrations for rotor B, * f
n B

21C.1IB1A1
2CJ

llll . . . (ii) and natural frequency of torsional vibrations for rotor C, f

C

21C. JlC. I
C

. . . (iii) Since f
nA n

=f
nB

=f
nC,

therefore equating equations (i) and (iIi) 1 CJ . 1 CJ .2lA.IA2lC. I

C

or l
A

.I
A

=l
C

.I
C

l
A

lC.I CI
A

. . . (iv) Now equating equations (ii) and (iii), 1 CJ . 1 1 1 CJ .2IBl1lAl2lC2lC. I

C

or . . . (v) On substituting the value of l expression, A from equation (iv) in the a quadratic equation above in l two C is obtained. values Therefore, there are of two values of the corresponding l l
C A

. and One correspondingly value of l

A

and the position of value of two nodes. l C gives The frequency obtained by substituting the (i) value of or (iii) is l known A or l
C

as in two equation node frequency. But in the other pair of values, one gives the position of single node and the other is beyond the physical limits of the equation. In this case, the frequency obtained is known an fundamental frequency or single node frequency.
* Since the resisting torque nodes stiffness N 1 is and equal N 2 , to therefore the of the rotor B is supplied by the each length is twisted through two lengths the same (l angle 1 l A ) and and the (l 2 combined l C

) between the torsional sum of the separate stiffness. We know that torsional stiffness due to (l 1 .C J l l and torsional stiffness due to (l 2 l A ) 1A l C )= .C J l 2 l C Total stiffness of the rotor B .C J l11lAl21 l C Inside view of a workshop. Note : This picture is given as additional information and is not a direct example of the current chapter.

Chapter 24 : Torsional Vibrations

980
Theory of Machines
It may be noted that 1. When the rotors A and B rotate in the same direction and the rotor C in the opposite direction, then the torsional vibrations occur with a single node, as shown in Fig. 24.7 (b). In this case actual value l of A > the l 1 node. i.e. the node lies between the rotors B and C, but it does not give the 2. When the rotors B and C rotate in the same direction and the rotor A in opposite direction, then the torsional vibrations also occur with a single node as shown in Fig. 24.7 (c). In this case value of the l
C

> node. l
2

i.e the node lies between the rotors A and B, but it does not give the actual
Fig 24.7

3. When the amplitude of vibration rotor B, for the rotor A (a

1

) is known, then the amplitude of a2lAl

A

l
1

a
1

and amplitude of rotor C, a3lCl

C

l
2

a
2

node and As two there node are vibrations. two values of l

A

and l

, therefore there will be two values of amplitude for one

24.7.24.7.24.7.24.7.24.7. Torsionally Torsionally Torsionally Torsionally Torsionally Equivalent Equivalent Equivalent Equivalent Equivalent Shaft Shaft
Shaft Shaft Shaft In the previous articles, we have assumed that the shaft is of uniform diameter. But in actual practice, the shaft may have variable diameter for different lengths. Such a shaft may, theoretically, be replaced by an equivalent shaft of uniform diameter. Consider a shaft of varying diameters as shown in Fig. 24.8 (a). Let this shaft is replaced by an equivalent shaft of uniform diameter d and length l as shown in Fig.24.8 (b).These two shafts must have the same total angle of twist when equal opposing torques T are applied at their opposite ends.

981
Let d
1

Chapter 24 : Torsional Vibrations

,d
2

and d
3

= Diameters for the lengths l

1

,l
2

and l
3

respectively,
1,2

and
3

= Angle of twist for the lengths l

1

,l
2

and l
3

respectively, = Total angle of twist, and J1,J2 and J3 = Polar moment of inertia for the shafts of diameters d
1

,d
2

and d
3

respectively.

(a) Shaft of varying diameters. (b) Torsionally equivalent shaft. Fig 24.8 Since the total angle of twist of the shaft is equal to the sum of the angle of twists of different lengths, therefore
123

or Tl . Tl . 1 Tl . 2 Tl . 3 CJ . CJ . 1 CJ . 2 CJ . 3l l1l2l3JJ1J2J3l l 1 l 2 l 3 32 d 4 32 ( d 1 ) 4 32 ( d 2 ) 4 32 ( d
3

)
4

l l1l2l3d4(d1)4(d2)4(d3 )
4

In actual calculations, it is assumed that the diameter d of the equivalent shaft is equal to one of the diameter of the actual shaft. Let us assume that d = d
1

. l
l1l2l3d14d14d24d3 4

or ()()()()
4ll1l2d14

d2l
3

d 1d 3 This expression gives the length l of an equivalent shaft. Example 24.3. A steel shaft 1.5 m long is 95 mm in diameter for the first 0.6 m of its length, 60 mm in diameter for the next 0.5 m of the length and 50 mm in diameter for the remaining 0.4 m of its length. The shaft carries two flywheels at two ends, the first having a mass of 900 kg and 0.85 m radius of gyration located at the 95 mm diameter end and the second having a mass of 700 kg and 0.55 m radius of gyration located at the other end. Determine the location of the node and the natural frequency of free torsional vibration of the system. The modulus of rigidity of shaft material may be taken as 80 GN/m